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6,986 Commits 19 Branches 27 Tags 326 MiB
f6ea2a7379
Commit Graph

977 Commits

Author SHA1 Message Date
Erwin Coumans
f6ea2a7379 fix a potential data race condition. 
remove createObstacleCourse programmatic creation part until we can steam vertices/indices.
 2018-11-01 10:20:54 -07:00
erwincoumans
750133694c Disable btQuickprof.h profiling by default. We use custom profiling functions, see b3ChromeUtilsStartTimings. 2018-11-01 08:19:50 -07:00
Erwin Coumans
438e082b33 PyBullet: remove a potential race condition 2018-11-01 07:27:37 -07:00
Erwin Coumans
8e82de1b00 add rudimentary MuJoCo mjcf xml to ROS URDF file, based on 
pybullet_utils.urdfEditor
 2018-10-31 11:02:19 -07:00
erwincoumans
c80e2816ad PyBullet: Use fileIOPlugin in processRestoreStateCommand 
PyBullet: Report debug information in case of failure in restoreState.
 2018-10-29 12:08:34 -07:00
erwincoumans
35790c36c2 fix renamed variable m_rootPath->m_pathPrefix 2018-10-29 10:56:55 -07:00
erwincoumans
078887c4d7 PyBullet fileIOPlugin: don't add equal fileIO interface twice (based on identical fileIOType and pathPrefix) 
loadBullet goes through fileIOPlugin
 2018-10-29 10:25:40 -07:00
erwincoumans
ee76873689 eglPlugin: remove visual shape for removeBody. 2018-10-28 21:08:57 -07:00
erwincoumans
bdda7af8d7 Use the kF_UseGjkConvexCastRaytest for more accurate picking 
fix upAxis in some demos
 2018-10-27 11:38:38 -07:00
erwincoumans
a44df2b0a6 PyBullet: allow to pass vertices (for convex) and vertices+indices (for concave) to createCollisionShape 
See createObstacleCourse.py for an example use. At the moment a limit of 1024 vertices and 1024 indices.
Will be lifted once we implement the streaming version (soon).
 2018-10-26 10:18:51 -07:00
Erwin Coumans
84870739af Merge remote-tracking branch 'bp/master' 2018-10-22 08:03:47 -07:00
Erwin Coumans
a198459b09 reduce back to 128, some internal build has too limited stack size. 2018-10-22 07:40:45 -07:00
Tigran Gasparian
6512a67422 Uses btCollisionBody::isActive instead of btMultiBody::isAwake to 
determine whether to send transform changed notifications.
 2018-10-22 14:06:58 +02:00
erwincoumans
c291fe5584 PyBullet/BulletRobotics: increase max #degree of freedom from 128 to 256. 2018-10-21 20:05:29 -07:00
Erwin Coumans
2d224cf319 revert backward compabitility in API 2018-10-20 19:44:39 -07:00
erwincoumans
01a8a36933 fix example 2018-10-20 16:13:48 -07:00
erwincoumans
ed49edc1af PyBullet change API (since it was broken): pybullet_changeVisualShape with textureUniqueId ==-1 will clear the texture 
b3InitUpdateVisualShape doesn't take textureUniqueId by default. new API b3UpdateVisualShapeTexture to change texture (-1 will clear texture)
PyBullet/BulletRobotics: allow to reset the textureUniqueId to -1, to clear a texture
PyBullet/BulletRobotics: save all texture handles
 2018-10-20 15:56:56 -07:00
Erwin Coumans
9a9386b6a7 allow empty filename in CNS fileIO 2018-10-20 14:16:31 -07:00
erwincoumans
399ff55153 fix typo in previous commit 2018-10-16 19:02:12 -07:00
erwincoumans
8825b39f6c fix potential memory leak in previous commit related to InMemoryFileIO class. 2018-10-16 18:31:17 -07:00
erwincoumans
b0a3b1b962 add missing header <string.h> 2018-10-14 15:12:53 -07:00
erwincoumans
b5e475aec3 enable planar reflection in MinitaurGymEnv 
enable follow cam in other Gym locomotion environments
add testing assets for multi-material obj files -> sdf conversion.
Also use ER_NO_SEGMENTATION_MASK flag for TinyRenderer/EGL plugin renderer
 2018-10-14 15:10:19 -07:00
erwincoumans
c1e20c448f Implement InMemoryFile for memory caching for fileIO plugin. 
Support SDF loading through fileIO plugin.
Replace strcspn by C code (not crossplatform)
Add flag for loadURDF to use color from MTL file (instead from URDF link material)
pybullet.URDF_USE_MATERIAL_COLORS_FROM_MTL and pybullet.URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL
 2018-10-14 12:54:34 -07:00
erwincoumans
ad10da57c5 more initial work on fileIOPlugin 2018-10-11 17:00:17 -07:00
erwincoumans
a24c1436af state 2 of FileIO plugin: adding/removing FileIO types, search through all registered FileIO types. 
(not enabled by default yet)
Example:
fileIO = p.loadPlugin("fileIOPlugin")
print("fileIO=",fileIO)
p.executePluginCommand(fileIO,"e:/develop/bullet3/data/plane.zip", [p.AddFileIOAction,p.ZipFileIO])
p.executePluginCommand(fileIO,"e:/develop/bullet3/data/test2.zip", [p.AddFileIOAction,p.ZipFileIO])
planeId = p.loadURDF("plane.urdf")
duckId = p.loadURDF("duck_vhacd.urdf",[0,0,1])
 2018-10-11 14:39:31 -07:00
erwincoumans
f792a5951a move zipfFileIO into own header 
route loadTextureFile from fileIO plugin
fix B3_ENABLE_FILEIO_PLUGIN logic
 2018-10-11 10:58:14 -07:00
erwincoumans
bb305c6ebc allow to provide rayCastBatch in local 'from'/'to' with a parent/link index, b3RaycastBatchSetParentObject 
If parentObjectUniqueId provided, convert local from/to into world space coordinates
AddUserDebugLins: don't block when replacing an item
Fix examples/pybullet/examples/inverse_kinematics.py
 2018-10-10 23:31:50 -07:00
Erwin Coumans
74fca2418b fix egl plugin build, with fileIO changes 2018-10-09 08:00:31 -07:00
erwincoumans
dba239fe8d First pass of load files through an interface (to allow loading from memory, zip file etc). So instead of posix fopen/fread, using CommonFileIOInterface. 
A fileIO plugin can override custom file IO operations. As a small test, load files from a zipfile in memory.
Default fileIO implementation is in examples/Utils/b3BulletDefaultFileIO.h
Affects URDF, SDF, MJCF, Wavefront OBJ, STL, DAE, images.
 2018-10-08 21:27:08 -07:00
erwincoumans
c0e38cd921
Merge pull request #1896 from jviereck/jviereck_add_lateral_contact_info 
Adding support for lateral friction to getContactPoints()
 2018-10-06 15:27:14 -07:00
bla
83c3094086 Merge remote-tracking branch 'bp/master' 2018-10-05 19:42:26 -07:00
erwincoumans
2c13e70d1a make projective textures work in DIRECT+eglPlugin (see examples/pybullet/examples/projective_texture.py) 2018-10-05 19:24:44 -07:00
erwincoumans
111ffc784d Use 2560x2048 as default window/framebuffer size for eglPlugin. 2018-10-05 18:28:37 -07:00
erwincoumans
40d7e292f2 fix depth image for eglPlugin, also fix setRGBA color for eglPlugin. 2018-10-05 18:25:51 -07:00
erwincoumans
67954a873e
Merge pull request #1917 from erwincoumans/master 
reverse ER_SEGMENTATION_MASK to ER_NO_SEGMENTATION_MASK so segmentation
 2018-10-04 18:41:16 -07:00
Erwin Coumans
24ca5afe95 reverse ER_SEGMENTATION_MASK to ER_NO_SEGMENTATION_MASK so segmentation 
mask is rendered by default
 2018-10-04 14:14:24 -07:00
Wenlong Lu
24f5b819cf fix a memory leak 2018-10-02 10:58:23 -07:00
erwincoumans
8aff1fbd49 removed flags from loadURDF command. The flags are already available in m_data->m_flags in BulletUrdfImporter.cpp 2018-10-02 08:39:47 -07:00
bla
0f8b8388a6 eglPlugin, one more fix, remove graphics instances at resetAll 2018-10-02 08:13:51 -07:00
erwincoumans
da37f1d559 add glViewport after call to startRendering (some renderers call glViewport) 2018-10-02 07:49:13 -07:00
erwincoumans
c9bd997acf
Merge pull request #1910 from WenlongLu/create_status 
Two minor updates for PhysicsServerCommandProcessor
 2018-10-01 18:53:13 -07:00
bla
7cd962467e fix EGL issue related to glViewport in startRender method 2018-10-01 18:51:02 -07:00
Wenlong Lu
085984f003 update complete status for removing collision shape 2018-10-01 17:54:23 -07:00
Wenlong Lu
167520a5e6 pass plane constant 2018-10-01 17:38:24 -07:00
Erwin Coumans
42ae4e81a8 apply clang-format (on Mac, slightly different than running it on Windows) 2018-09-30 11:43:57 -07:00
erwincoumans
5bcd43711a PyBullet OpenGL/EGL hardware getCameraImage: use glViewport to reduce the glReadPixels calling cost dramatically for small images 
PyBullet Allow OpenGL/EGL hardware to render segmentation mask. Use pybullet.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX or pybullet.ER_SEGMENTATION_MASK
PyBullet.removeBody fix indexing bug (use foundIndex, not i)
PyBullet bump up version to 2.2.3
 2018-09-30 07:10:40 -07:00
erwincoumans
00ed0dce24
Merge pull request #1900 from crewmatt/master 
Update URDF Importer to process Sensor elements.
 2018-09-28 17:06:27 -07:00
mbennice
6655bd60c8 Update stb_image.h import 2018-09-27 14:09:00 -07:00
mbennice
7485999254 Clang Format Change 2018-09-27 10:00:39 -07:00
mbennice
30d4c4136a Piping through the flag to parse sensors 2018-09-27 09:49:59 -07:00